A　passivity-based　controllers　with　integral　actions　is　proposed　to　control　the　current　loop　of　permanent　magnet　synchronous　motor　(PMSM).　The　Port-controlled　Hamiltonian　system　with　dissipation　(PCHD)　model　of　permanent　magnet　synchronous　motor　with　voltage　disturbance　is　established　by　introduction　of　the　state　error　and　the　integral　action.　The　Lyapunov　function　is　constructed　to　analyze　the　stability　of　system　under　the　condition　of　constant　and　time-varying　perturbations.　This　control　strategy　can　obtain　the　control　law　of　the　d,　q　axis　and　integral　action,　and　can　keep　an　exponential　convergence　of　the　closed　loop　system.　Experimental　simulation　results　show　the　proposed　control　strategy　can　effectively　suppress　the　constant　and　time-varying　disturbances,　eliminate　the　steady-state　error,　and　improve　the　robustness　of　system.